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完善shapeCollision 支持多边形

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This commit is contained in:
YHH
2020-06-16 00:04:28 +08:00
parent 5186bc0187
commit dba43b9773
22 changed files with 872 additions and 94 deletions
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150
source/src/Physics/Shapes/ShapeCollisions/ShapeCollisions.ts
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@@ -1,5 +1,5 @@
class ShapeCollisions {
public static polygonToPolygon(first: Polygon, second: Polygon){
public static polygonToPolygon(first: Polygon, second: Polygon) {
let result = new CollisionResult();
let isIntersecting = true;
@@ -9,9 +9,9 @@ class ShapeCollisions {
let translationAxis = new Vector2();
let polygonOffset = Vector2.subtract(first.position, second.position);
let axis: Vector2;
for (let edgeIndex = 0; edgeIndex < firstEdges.length + secondEdges.length; edgeIndex ++){
if (edgeIndex < firstEdges.length){
for (let edgeIndex = 0; edgeIndex < firstEdges.length + secondEdges.length; edgeIndex++) {
if (edgeIndex < firstEdges.length) {
axis = firstEdges[edgeIndex];
} else {
axis = secondEdges[edgeIndex - firstEdges.length];
@@ -22,72 +22,130 @@ class ShapeCollisions {
let maxA = 0;
let maxB = 0;
let intervalDist = 0;
this.getInterval(axis, first, minA, maxA);
this.getInterval(axis, second, minB, maxB);
let ta = this.getInterval(axis, first, minA, maxA);
minA = ta.min;
minB = ta.max;
let tb = this.getInterval(axis, second, minB, maxB);
minB = tb.min;
maxB = tb.max;
let relativeIntervalOffset = Vector2.dot(polygonOffset, axis);
minA += relativeIntervalOffset;
maxA += relativeIntervalOffset;
intervalDist = this.intervalDistance(minA, maxA, minB, maxB);
if (intervalDist > 0)
isIntersecting = false;
if (!isIntersecting)
return null;
intervalDist = Math.abs(intervalDist);
if (intervalDist < minIntervalDistance) {
minIntervalDistance = intervalDist;
translationAxis = axis;
if (Vector2.dot(translationAxis, polygonOffset) < 0)
translationAxis = new Vector2(-translationAxis);
}
}
result.normal = translationAxis;
result.minimumTranslationVector = Vector2.multiply(new Vector2(-translationAxis), new Vector2(minIntervalDistance));
return result;
}
public static getInterval(axis: Vector2, polygon: Polygon, min: number, max: number){
public static intervalDistance(minA: number, maxA: number, minB: number, maxB) {
if (minA < minB)
return minB - maxA;
return minA - minB;
}
public static getInterval(axis: Vector2, polygon: Polygon, min: number, max: number) {
let dot = Vector2.dot(polygon.points[0], axis);
min = max = dot;
for (let i = 1; i < polygon.points.length; i++){
for (let i = 1; i < polygon.points.length; i++) {
dot = Vector2.dot(polygon.points[i], axis);
if (dot < min){
if (dot < min) {
min = dot;
}else if(dot > max){
} else if (dot > max) {
max = dot;
}
}
return { min: min, max: max };
}
public static circleToPolygon(circle: Circle, polygon: Polygon){
public static circleToPolygon(circle: Circle, polygon: Polygon) {
let result = new CollisionResult();
let poly2Circle = Vector2.subtract(circle.position, polygon.position);
let gpp = Polygon.getClosestPointOnPolygonToPoint(polygon.points, poly2Circle);
let closestPoint = gpp.closestPoint;
let closestPoint: Vector2 = gpp.closestPoint;
let distanceSquared: number = gpp.distanceSquared;
result.normal = gpp.edgeNormal;
let circleCenterInsidePoly = polygon.containsPoint(circle.position);
if (distanceSquared > circle.radius * circle.radius && !circleCenterInsidePoly)
return result;
return null;
let mtv: Vector2;
if (circleCenterInsidePoly){
mtv = Vector2.multiply(result.normal, new Vector2(Math.sqrt(distanceSquared) - circle.radius, Math.sqrt(distanceSquared) - circle.radius));
}else{
if (distanceSquared == 0){
mtv = Vector2.multiply(result.normal, new Vector2(circle.radius, circle.radius));
}else{
if (circleCenterInsidePoly) {
mtv = Vector2.multiply(result.normal, new Vector2(Math.sqrt(distanceSquared) - circle.radius));
} else {
if (distanceSquared == 0) {
mtv = Vector2.multiply(result.normal, new Vector2(circle.radius));
} else {
let distance = Math.sqrt(distanceSquared);
// mtv = Vector2.multiply( -Vector2.subtract(poly2Circle, closestPoint), new Vector2((circle.radius - distanceSquared) / distance))
mtv = Vector2.multiply(new Vector2(-Vector2.subtract(poly2Circle, closestPoint)), new Vector2((circle.radius - distanceSquared) / distance));
}
}
}
public static circleToRect(circle: Circle, box: Box): CollisionResult{
let result = new CollisionResult();
let closestPointOnBounds = box.bounds.getClosestPointOnRectangleBorderToPoint(circle.position).res;
if (box.containsPoint(circle.position)){
result.point = closestPointOnBounds;
let safePlace = Vector2.add(closestPointOnBounds, Vector2.subtract(result.normal, new Vector2(circle.radius, circle.radius)));
}
result.minimumTranslationVector = mtv;
result.point = Vector2.add(closestPoint, polygon.position);
return result;
}
public static pointToCicle(point: Vector2, circle: Circle){
public static circleToBox(circle: Circle, box: Box): CollisionResult {
let result = new CollisionResult();
let closestPointOnBounds = box.bounds.getClosestPointOnRectangleBorderToPoint(circle.position).res;
if (box.containsPoint(circle.position)) {
result.point = closestPointOnBounds;
let safePlace = Vector2.add(closestPointOnBounds, Vector2.subtract(result.normal, new Vector2(circle.radius)));
result.minimumTranslationVector = Vector2.subtract(circle.position, safePlace);
return result;
}
let sqrDistance = Vector2.distanceSquared(closestPointOnBounds, circle.position);
if (sqrDistance == 0) {
result.minimumTranslationVector = Vector2.multiply(result.normal, new Vector2(circle.radius));
} else if (sqrDistance <= circle.radius * circle.radius) {
result.normal = Vector2.subtract(circle.position, closestPointOnBounds);
let depth = result.normal.length() - circle.radius;
result.normal = Vector2Ext.normalize(result.normal);
result.minimumTranslationVector = Vector2.multiply(new Vector2(depth), result.normal);
return result;
}
return null;
}
public static pointToCircle(point: Vector2, circle: Circle) {
let result = new CollisionResult();
let distanceSquared = Vector2.distanceSquared(point, circle.position);
let sumOfRadii = 1 + circle.radius;
let collided = distanceSquared < sumOfRadii * sumOfRadii;
if (collided){
if (collided) {
result.normal = Vector2.normalize(Vector2.subtract(point, circle.position));
let depth = sumOfRadii - Math.sqrt(distanceSquared);
result.minimumTranslationVector = Vector2.multiply(new Vector2(-depth, -depth), result.normal);
@@ -96,10 +154,10 @@ class ShapeCollisions {
return result;
}
return result;
return null;
}
public static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2){
public static closestPointOnLine(lineA: Vector2, lineB: Vector2, closestTo: Vector2) {
let v = Vector2.subtract(lineB, lineA);
let w = Vector2.subtract(closestTo, lineA);
let t = Vector2.dot(w, v) / Vector2.dot(v, v);
@@ -108,10 +166,10 @@ class ShapeCollisions {
return Vector2.add(lineA, Vector2.multiply(v, new Vector2(t, t)));
}
public static pointToPoly(point: Vector2, poly: Polygon){
public static pointToPoly(point: Vector2, poly: Polygon) {
let result = new CollisionResult();
if (poly.containsPoint(point)){
if (poly.containsPoint(point)) {
let distanceSquared: number;
let gpp = Polygon.getClosestPointOnPolygonToPoint(poly.points, Vector2.subtract(point, poly.position));
let closestPoint = gpp.closestPoint;
@@ -124,6 +182,24 @@ class ShapeCollisions {
return result;
}
return result;
return null;
}
public static circleToCircle(first: Circle, second: Circle){
let result = new CollisionResult();
let distanceSquared = Vector2.distanceSquared(first.position, second.position);
let sumOfRadii = first.radius + second.radius;
let collided = distanceSquared < sumOfRadii * sumOfRadii;
if (collided){
result.normal = Vector2.normalize(Vector2.subtract(first.position, second.position));
let depth = sumOfRadii - Math.sqrt(distanceSquared);
result.minimumTranslationVector = Vector2.multiply(new Vector2(-depth), result.normal);
result.point = Vector2.add(second.position, Vector2.multiply(result.normal, new Vector2(second.radius)));
return result;
}
return null;
}
}